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author | t0ni0 <azntonio789@gmail.com> | 2014-06-05 04:03:40 -0400 |
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committer | t0ni0 <azntonio789@gmail.com> | 2014-06-07 12:31:50 -0400 |
commit | 2a79a9a4e4ebae2e85dab64ae98ff2a17e421ea2 (patch) | |
tree | e7c05c9686b3266c92cc2e034071165572e28098 /src/modules/mc_pos_control | |
parent | af56879fdd94c1b712657e071324b3a6f147caa7 (diff) | |
download | px4-firmware-2a79a9a4e4ebae2e85dab64ae98ff2a17e421ea2.tar.gz px4-firmware-2a79a9a4e4ebae2e85dab64ae98ff2a17e421ea2.tar.bz2 px4-firmware-2a79a9a4e4ebae2e85dab64ae98ff2a17e421ea2.zip |
Close fds when not needed
File descriptors get closed when not needed by offboard mode
to allow position and attitude controllers to advertise and publish.
Diffstat (limited to 'src/modules/mc_pos_control')
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 87a8385d3..4ee78516f 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -734,10 +734,16 @@ MulticopterPositionControl::task_main() if (_local_pos_sp_pub > 0) { orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp); - } else { + } else if (!_control_mode.flag_control_offboard_enabled) { _local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp); } + /* Close fd to let offboard pos sp be advertised in mavlink receiver*/ + if (_control_mode.flag_control_offboard_enabled && _local_pos_sp_pub > 0) { + close(_local_pos_sp_pub); + _local_pos_sp_pub = -1; + } + if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) { /* idle state, don't run controller and set zero thrust */ R.identity(); |